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Fair Value of Financial Instruments - Carrying Value and Estimated Fair Value of Financial Instruments (Details) - Fair Value, Measurements, Recurring - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Securitized debt $ 1,713,455 $ 1,719,865
Total Liabilities 1,713,576 1,719,926
Carrying Value    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Convertible senior unsecured notes 83,932 83,522
Securitized debt 329,701 342,965
Total Liabilities 413,633 426,487
Debt issuance costs 3,800 4,100
Estimated Fair Value    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Convertible senior unsecured notes 75,513 74,712
Securitized debt 302,817 309,474
Total Liabilities $ 378,330 $ 384,186